# Mission Filename: 2016_171_132.cfg
#
#               *** LAUNCH WAYPOINT ***
#               LAT/LON: 36.8013 -121.8455
#
#               *** INITIAL HEADING *** 
#                        195.1  
#
#             *** abortOnTimeout is True ***
#
#
# Gulper Assignments
#
# wpt 1 to 7          C1 to Southernmost waypoint
#  gulp 0 1 2
#
# wpt 7 to 13         Southernmost waypoint to M1
#  gulp 3 4 5
#
# wpt 13 spiral       M1 
#  gulp 6 7 8 9
#
# wpt 13 to 20        M1 to Northernmost waypoint
#  gulp 10 11 12
# 
# wpt 20 to 26        Northernmost waypoint to C1
#  gulp 13 14 15
#
# wpt 26 spiral       C1
#  gulp 16 17 18 19 
# Expected survey line distance: 65741.6 meters
# Expected mission time: 55968.6 seconds ( using SOG of 1.17 m/sec)
#    15 hours
#    32 minutes
#
# Plus
#
#            30 for two spiral descents and samples
#    2 hours 10 min for 60 gps hits, 26 waypoints
#
#    18 hours
#     2 minutes
# mission timer set to 24 hours
behavior missionTimer {
timeOut = 86400;
}
# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 3.0;
 maxDepth = 100.0;
 abortDepth = 120.0;
 abortAltitude = 4;
 abortLockoutDepth = 8.0;
}
behavior getgps {
duration = 1800;
minHits = 300;
abortOnTimeout = True;
}
# ***** Mission Ends ^ *****
# ***** End of C1 spiral profile *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
 duration = 2;
 gulperToFire = 19;
}
# Descend behavior to 60 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 60;
duration = 240;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
 duration = 2;
 gulperToFire = 18;
}
# Descend behavior to 40 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 40;
duration = 240;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 256;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
 duration = 2;
 gulperToFire = 17;
}
# Descend behavior to 20 meters
behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 240;
}
# setpoint on surface to get momentum to dive
behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
 duration = 2;
 gulperToFire = 16;
}
# setpoint on surface to stay still while firing gulper
behavior setpoint {
duration = 5;
heading = 256;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
#****************************
# ^^^ C1 Profile begins ^^^
#****************************
# ***** Four gulpers *****
# ***** C1 Spiral Gulper Profiles *****
#  surface
#  20 m 
#  40 m
#  60 m
# ***** C1 Waypoint Achieved *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2169.1;
# N36 47.8200 W121 50.8200
latitude = 36.7970;
longitude = -121.8470;
captureRadius = 10;
duration = 2169;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** FINAL WAYPOINT NUMBER: 26 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 48.6995 W121 51.7844
latitude = 36.8117;
longitude = -121.8631;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 25 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 49.7908 W121 52.9902
latitude = 36.8298;
longitude = -121.8832;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 24 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 50.8821 W121 54.1962
latitude = 36.8480;
longitude = -121.9033;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 23 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 51.9734 W121 55.4025
latitude = 36.8662;
longitude = -121.9234;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 22 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 53.0647 W121 56.6091
latitude = 36.8844;
longitude = -121.9435;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 21 ^ *****
# ***** Northernmost Waypoint Achieved *****
# ***** Arm next three gulpers for adaptive sampling *****
# ***** Leg from Northernmost Waypoint to back to C1
behavior ArmTheGulper{
duration = 5;
gulper13 = 1;
gulper14 = 1;
gulper15 = 1;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1442.9;
# N36 54.1560 W121 57.8160
latitude = 36.9026;
longitude = -121.9636;
captureRadius = 10;
duration = 1443;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 20 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 53.4233 W121 58.1451
latitude = 36.8904;
longitude = -121.9691;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 19 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 52.0504 W121 58.7547
latitude = 36.8675;
longitude = -121.9792;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 18 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 50.6775 W121 59.3642
latitude = 36.8446;
longitude = -121.9894;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 17 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 49.3046 W121 59.9734
latitude = 36.8217;
longitude = -121.9996;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 16 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 47.9318 W122 0.5824
latitude = 36.7989;
longitude = -122.0097;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 15 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 46.5589 W122 1.1913
latitude = 36.7760;
longitude = -122.0199;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 14 ^ *****
# ***** Arm next three gulpers for adaptive sampling *****
# ***** Leg from M1 to Northernmost Waypoint
behavior ArmTheGulper{
duration = 5;
gulper10 = 1;
gulper11 = 1;
gulper12 = 1;
}
# ***** End of M1 spiral profile *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
 duration = 2;
 gulperToFire = 9;
}
# Descend behavior to 60 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 60;
duration = 240;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
 duration = 2;
 gulperToFire = 8;
}
# Descend behavior to 40 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 40;
duration = 240;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 256;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
 duration = 2;
 gulperToFire = 7;
}
# Descend behavior to 20 meters
behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 240;
}
# setpoint on surface to get momentum to dive
behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
 duration = 2;
 gulperToFire = 6;
}
# setpoint on surface to stay still while firing gulper
behavior setpoint {
duration = 5;
heading = 256;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
#****************************
# ^^^ M1 Profile begins ^^^
#****************************
# ***** Four gulpers *****
# ***** M1 Spiral Gulper Profiles *****
#  surface
#  20 m 
#  40 m
#  60 m
# *******************************
# ***** M1 Waypoint Achieved *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2548.0;
# N36 45.1860 W122 1.8000
latitude = 36.7531;
longitude = -122.0300;
captureRadius = 10;
duration = 2548;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 13 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 44.2938 W122 0.4945
latitude = 36.7382;
longitude = -122.0082;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 12 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 43.3442 W121 59.1158
latitude = 36.7224;
longitude = -121.9853;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 11 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 42.3947 W121 57.7375
latitude = 36.7066;
longitude = -121.9623;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 10 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 41.4451 W121 56.3594
latitude = 36.6908;
longitude = -121.9393;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 9 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 40.4956 W121 54.9815
latitude = 36.6749;
longitude = -121.9164;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 8 ^ *****
# ***** Southernmost Waypoint Achieved *****
# ***** Arm next three gulpers for adaptive sampling *****
# ***** Leg from Southernmost Waypoint to M1 Waypoint
behavior ArmTheGulper{
duration = 5;
gulper3 = 1;
gulper4 = 1;
gulper5 = 1;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2381.6;
# N36 39.5460 W121 53.6040
latitude = 36.6591;
longitude = -121.8934;
captureRadius = 10;
duration = 2382;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 7 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 40.7871 W121 53.1886
latitude = 36.6798;
longitude = -121.8865;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 6 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 42.1937 W121 52.7152
latitude = 36.7032;
longitude = -121.8786;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 5 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 43.6003 W121 52.2416
latitude = 36.7267;
longitude = -121.8707;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 4 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 45.0069 W121 51.7679
latitude = 36.7501;
longitude = -121.8628;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 3 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 46.4134 W121 51.2940
latitude = 36.7736;
longitude = -121.8549;
captureRadius = 10;
duration = 2700;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 2 ^ *****
# ***** First Waypoint Achieved *****
# ***** Arm first three gulpers for adaptive sampling *****
# ***** Leg from C1 to Southernmost Waypoint
behavior ArmTheGulper{
duration = 5;
gulper0 = 1;
gulper1 = 1;
gulper2 = 1;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 500.0;
# N36 47.8200 W121 50.8200
latitude = 36.7970;
longitude = -121.8470;
captureRadius = 10;
duration = 650;
speed = 1.250;
minDepth = 3;
maxDepth = 100;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 1 ^ *****
# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.8013 -121.8455
# N36 48.0805 W121 50.7322
# INITIAL HEADING:  195.1